werobot/ftc2024-robotcode
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Zelina974 2024-04-01 18:00:59 +02:00
parent fe0282842b
commit a1e61d0055
1 changed files with 9 additions and 6 deletions
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15
ftc_new.java
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@ -165,9 +165,11 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
telemetry.addData("Status", "Running"); telemetry.addData("Status", "Running");
if (0.1 < gamepad1.right_stick_x) { if (0.1 < gamepad1.right_stick_x) {
boxRot = 0.2; boxRot = 0.1;
} else if (-0.1 > gamepad1.right_stick_x) { } else if (-0.1 > gamepad1.right_stick_x) {
boxRot = -0.2; boxRot = -0.1;
} else {
boxRot = 0;
} }
if (gamepad1.right_trigger > 0) { if (gamepad1.right_trigger > 0) {
box.setPower(boxRot); box.setPower(boxRot);
@ -209,7 +211,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
case TANK: case TANK:
lpower = -y; lpower = -y;
rpower = gamepad1.right_stick_y; rpower = -gamepad1.right_stick_y;
break; break;
case ESSAIFRANCK: case ESSAIFRANCK:
@ -223,7 +225,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
case ELINA: case ELINA:
a = (-y + x) / Math.pow(2, 1 / 2); a = (-y + x) / Math.pow(2, 1 / 2);
b = (-y - x) / Math.pow(2, 1 / 2); b = (-y - x) / Math.pow(2, 1 / 2);
vmean = (Math.abs(a) + Math.abs(b)) / 4; vmean = (Math.abs(a) + Math.abs(b)) / 2;
lpower = (a / vmean) * t3; lpower = (a / vmean) * t3;
rpower = (b / vmean) * t3; rpower = (b / vmean) * t3;
break; break;
@ -234,8 +236,8 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
rpower /= 3; rpower /= 3;
} }
lm.setPower(lpower); lm.setPower(lpower/1.5);
rm.setPower(rpower); rm.setPower(rpower/1.5);
// activation moissonneuse // activation moissonneuse
if (gamepad1.b && !already_b) { if (gamepad1.b && !already_b) {
@ -316,6 +318,7 @@ public class WEROBOT_FTC2024_New_carlike extends LinearOpMode {
} else { } else {
lmelevator.setPower(0); lmelevator.setPower(0);
rmelevator.setPower(0); rmelevator.setPower(0);
rotation.setPower(0);
lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); lmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); rmelevator.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); rotation.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);